OpenRaiser/Intern-Atlas huggingface dataset:
From Discord to Harmony: Decomposed Consonance-based Training for Improved Audio Chord Estimation
Venue: arXiv cs.SD 2025
Year: 2025

Audio Chord Estimation (ACE) holds a pivotal role in music information research, having garnered attention for over two decades due to its relevance for music transcription and analysis. Despite notable advancements, challenges persist in the task, particularly concerning unique characteristics of harmonic content, which have resulted in existing systems' performances reaching a glass ceiling. These challenges include annotator subjectivity, where varying interpretations among annotators lead to inconsistencies, and class imbalance within chord datasets, where certain chord classes are over-represented compared to others, posing difficulties in model training and evaluation. As a first contribution, this paper presents an evaluation of inter-annotator agreement in chord annotations, using metrics that extend beyond traditional binary measures. In addition, we propose a consonance-informed distance metric that reflects the perceptual similarity between harmonic annotations. Our analysis suggests that consonance-based distance metrics more effectively capture musically meaningful agreement between annotations. Expanding on these findings, we introduce a novel ACE conformer-based model that integrates consonance concepts into the model through consonance-based label smoothing. The proposed model also addresses class imbalance by separately estimating root, bass, and all note activations, enabling the reconstruction of chord labels from decomposed outputs.
Throttling Web Agents Using Reasoning Gates
Venue: arXiv cs.AI 2025
Year: 2025

AI web agents use Internet resources at far greater speed, scale, and complexity -- changing how users and services interact. Deployed maliciously or erroneously, these agents could overload content providers. At the same time, web agents can bypass CAPTCHAs and other defenses by mimicking user behavior or flood authentication systems with fake accounts. Yet providers must protect their services and content from denial-of-service attacks and scraping by web agents. In this paper, we design a framework that imposes tunable costs on agents before providing access to resources; we call this Web Agent Throttling. We start by formalizing Throttling Gates as challenges issued to an agent that are asymmetric, scalable, robust, and compatible with any agent. Focusing on a common component -- the language model -- we require the agent to solve reasoning puzzles, thereby incurring excessive token-generation costs. However, we find that using existing puzzles, e.g., coding or math, as throttling gates fails to satisfy our properties. To address this, we introduce rebus-based Reasoning Gates, synthetic text puzzles that require multi-hop reasoning over world knowledge (thereby throttling an agent's model). We design a scalable generation and verification protocol for such reasoning gates. Our framework achieves computational asymmetry, i.e., the response-generation cost is 9.2x higher than the generation cost for SOTA models. We further deploy reasoning gates on a custom website and Model Context Protocol (MCP) servers and evaluate with real-world web agents. Finally, we discuss the limitations and environmental impact of real-world deployment of our framework.
Relative Trajectory Balance is equivalent to Trust-PCL
Venue: arXiv cs.LG 2025
Year: 2025

Recent progress in generative modeling has highlighted the importance of Reinforcement Learning (RL) for fine-tuning, with KL-regularized methods in particular proving to be highly effective for both autoregressive and diffusion models. Complementing this line of work, the Relative Trajectory Balance (RTB) objective was recently introduced in the context of Generative Flow Networks (GFlowNets) to serve the same role of improving fine-tuning in sequential generative models. Building on prior work linking GFlowNets and maximum-entropy RL, we establish in this paper an equivalence between RTB and Trust-PCL, an off-policy RL method with KL regularization. This equivalence situates RTB within the broader theoretical landscape of KL-regularized RL, and clarifies its relationship to earlier methods. Leveraging this insight, we revisit an illustrative example from the RTB paper and show that KL-regularized RL methods achieve comparable performance, offering an alternative perspective to what was previously reported.
Speculative Design of Equitable Robotics: Queer Fictions and Futures
Venue: arXiv cs.RO 2025
Year: 2025

This paper examines the speculative topic of equitable robots through an exploratory essay format. It focuses specifically on robots by and for LGBTQ+ populations. It aims to provoke thought and conversations in the field about what aspirational queer robotics futures may look like, both in the arts and sciences. First, it briefly reviews the state-of-the-art of queer robotics in fiction and science, drawing together threads from each. Then, it discusses queering robots through three speculative design proposals for queer robot roles: 1) reflecting the queerness of their ''in-group'' queer users, building and celebrating ''in-group'' identity, 2) a new kind of queer activism by implementing queer robot identity performance to interact with ''out-group'' users, with a goal of reducing bigotry through familiarisation, and 3) a network of queer-owned robots, through which the community could reach each other, and distribute and access important resources. The paper then questions whether robots should be queered, and what ethical implications this raises. Finally, the paper makes suggestions for what aspirational queer robotics futures may look like, and what would be required to get there.
Physics Supernova: AI Agent Matches Elite Gold Medalists at IPhO 2025
Venue: arXiv cs.AI 2025
Year: 2025

Physics provides fundamental laws that describe and predict the natural world. AI systems aspiring toward more general, real-world intelligence must therefore demonstrate strong physics problem-solving abilities: to formulate and apply physical laws for explaining and predicting physical processes. The International Physics Olympiad (IPhO)--the world's most prestigious physics competition--offers a rigorous benchmark for this purpose. We introduce Physics Supernova, an AI agent system with superior physics problem-solving abilities that match elite IPhO gold medalists. In IPhO 2025 theory problems, Physics Supernova attains 23.5/30 points, ranking 14th of 406 contestants and surpassing the median performance of human gold medalists. We extensively analyzed Physics Supernova's capabilities and flexibility across diverse physics tasks. These results show that principled tool integration within agent systems can deliver competitive improvements in solving challenging science problems. The codes are available at https://github.com/CharlesQ9/Physics-Supernova.
A QoS Framework for Service Provision in Multi-Infrastructure-Sharing Networks
Venue: arXiv cs.NI 2025
Year: 2025

We propose a framework for resource provisioning with QoS guarantees in shared infrastructure networks. Our novel framework provides tunable probabilistic service guarantees for throughput and delay. Key to our approach is a Modified Dirft-plus-Penalty (MDP) policy that ensures long-term stability while capturing short-term probabilistic service guarantees using linearized upper-confidence bounds. We characterize the feasible region of service guarantees and show that our MDP procedure achieves mean rate stability and an optimality gap that vanishes with the frame size over which service guarantees are provided. Finally, empirical simulations validate our theory and demonstrate the favorable performance of our algorithm in handling QoS in multi-infrastructure networks.
Constrained Decoding for Robotics Foundation Models
Venue: arXiv cs.RO 2025
Year: 2025

Recent advances in the development of robotic foundation models have led to promising end-to-end and general-purpose capabilities in robotic systems. Trained on vast datasets of simulated and real-world trajectories, these models map multimodal observations directly to action sequences for physical execution. Despite promising real-world capabilities, these models are still data-driven and, therefore, lack explicit notions of behavioral correctness. We address this gap by introducing SafeDec, a constrained decoding framework for autoregressive, robot foundation models that enforces invariant safety specifications on candidate action trajectories. Task-specific safety rules are expressed as Signal Temporal Logic (STL) formulas and are enforced at inference time with minimal overhead. Our method ensures that generated actions provably satisfy STL specifications under assumed dynamics at runtime without retraining , while remaining agnostic of the underlying policy. We evaluate SafeDec on tasks from the CHORES benchmark for state-of-the-art generalist policies (e.g., SPOC, Flare, PoliFormer) across hundreds of procedurally generated environments and show that our decoding-time interventions are useful not only for filtering unsafe actions but also for conditional action generation. Videos are available at constrained-robot-fms.github.io.
Clinical Metadata Guided Limited-Angle CT Image Reconstruction
Venue: arXiv cs.CV 2025
Year: 2025

Limited-angle computed tomography (LACT) offers improved temporal resolution and reduced radiation dose for cardiac imaging, but suffers from severe artifacts due to truncated projections. To address the ill-posedness of LACT reconstruction, we propose a two-stage diffusion framework guided by structured clinical metadata. In the first stage, a transformer-based diffusion model conditioned exclusively on metadata, including acquisition parameters, patient demographics, and diagnostic impressions, generates coarse anatomical priors from noise. The second stage further refines the images by integrating both the coarse prior and metadata to produce high-fidelity results. Physics-based data consistency is enforced at each sampling step in both stages using an Alternating Direction Method of Multipliers module, ensuring alignment with the measured projections. Extensive experiments on both synthetic and real cardiac CT datasets demonstrate that incorporating metadata significantly improves reconstruction fidelity, particularly under severe angular truncation. Compared to existing metadata-free baselines, our method achieves superior performance in SSIM, PSNR, nMI, and PCC. Ablation studies confirm that different types of metadata contribute complementary benefits, particularly diagnostic and demographic priors under limited-angle conditions. These findings highlight the dual role of clinical metadata in improving both reconstruction quality and efficiency, supporting their integration into future metadata-guided medical imaging frameworks.
ManiFlow: A General Robot Manipulation Policy via Consistency Flow Training
Venue: arXiv cs.RO 2025
Year: 2025

This paper introduces ManiFlow, a visuomotor imitation learning policy for general robot manipulation that generates precise, high-dimensional actions conditioned on diverse visual, language and proprioceptive inputs. We leverage flow matching with consistency training to enable high-quality dexterous action generation in just 1-2 inference steps. To handle diverse input modalities efficiently, we propose DiT-X, a diffusion transformer architecture with adaptive cross-attention and AdaLN-Zero conditioning that enables fine-grained feature interactions between action tokens and multi-modal observations. ManiFlow demonstrates consistent improvements across diverse simulation benchmarks and nearly doubles success rates on real-world tasks across single-arm, bimanual, and humanoid robot setups with increasing dexterity. The extensive evaluation further demonstrates the strong robustness and generalizability of ManiFlow to novel objects and background changes, and highlights its strong scaling capability with larger-scale datasets. Our website: maniflow-policy.github.io.
PractiLight: Practical Light Control Using Foundational Diffusion Models
Venue: arXiv cs.CV 2025
Year: 2025

Light control in generated images is a difficult task, posing specific challenges, spanning over the entire image and frequency spectrum. Most approaches tackle this problem by training on extensive yet domain-specific datasets, limiting the inherent generalization and applicability of the foundational backbones used. Instead, PractiLight is a practical approach, effectively leveraging foundational understanding of recent generative models for the task. Our key insight is that lighting relationships in an image are similar in nature to token interaction in self-attention layers, and hence are best represented there. Based on this and other analyses regarding the importance of early diffusion iterations, PractiLight trains a lightweight LoRA regressor to produce the direct irradiance map for a given image, using a small set of training images. We then employ this regressor to incorporate the desired lighting into the generation process of another image using Classifier Guidance. This careful design generalizes well to diverse conditions and image domains. We demonstrate state-of-the-art performance in terms of quality and control with proven parameter and data efficiency compared to leading works over a wide variety of scenes types. We hope this work affirms that image lighting can feasibly be controlled by tapping into foundational knowledge, enabling practical and general relighting.
Latent Gene Diffusion for Spatial Transcriptomics Completion
Venue: arXiv cs.CV 2025
Year: 2025

Computer Vision has proven to be a powerful tool for analyzing Spatial Transcriptomics (ST) data. However, current models that predict spatially resolved gene expression from histopathology images suffer from significant limitations due to data dropout. Most existing approaches rely on single-cell RNA sequencing references, making them dependent on alignment quality and external datasets while also risking batch effects and inherited dropout. In this paper, we address these limitations by introducing LGDiST, the first reference-free latent gene diffusion model for ST data dropout. We show that LGDiST outperforms the previous state-of-the-art in gene expression completion, with an average Mean Squared Error that is 18% lower across 26 datasets. Furthermore, we demonstrate that completing ST data with LGDiST improves gene expression prediction performance on six state-of-the-art methods up to 10% in MSE. A key innovation of LGDiST is using context genes previously considered uninformative to build a rich and biologically meaningful genetic latent space. Our experiments show that removing key components of LGDiST, such as the context genes, the ST latent space, and the neighbor conditioning, leads to considerable drops in performance. These findings underscore that the full architecture of LGDiST achieves substantially better performance than any of its isolated components.
Doctoral Thesis: Geometric Deep Learning For Camera Pose Prediction, Registration, Depth Estimation, and 3D Reconstruction
Venue: arXiv cs.CV 2025
Year: 2025

Modern deep learning developments create new opportunities for 3D mapping technology, scene reconstruction pipelines, and virtual reality development. Despite advances in 3D deep learning technology, direct training of deep learning models on 3D data faces challenges due to the high dimensionality inherent in 3D data and the scarcity of labeled datasets. Structure-from-motion (SfM) and Simultaneous Localization and Mapping (SLAM) exhibit robust performance when applied to structured indoor environments but often struggle with ambiguous features in unstructured environments. These techniques often struggle to generate detailed geometric representations effective for downstream tasks such as rendering and semantic analysis. Current limitations require the development of 3D representation methods that combine traditional geometric techniques with deep learning capabilities to generate robust geometry-aware deep learning models. The dissertation provides solutions to the fundamental challenges in 3D vision by developing geometric deep learning methods tailored for essential tasks such as camera pose estimation, point cloud registration, depth prediction, and 3D reconstruction. The integration of geometric priors or constraints, such as including depth information, surface normals, and equivariance into deep learning models, enhances both the accuracy and robustness of geometric representations. This study systematically investigates key components of 3D vision, including camera pose estimation, point cloud registration, depth estimation, and high-fidelity 3D reconstruction, demonstrating their effectiveness across real-world applications such as digital cultural heritage preservation and immersive VR/AR environments.
Deep Reinforcement Learning for Drone Route Optimization in Post-Disaster Road Assessment
Venue: arXiv cs.LG 2025
Year: 2025

Rapid post-disaster road damage assessment is critical for effective emergency response, yet traditional optimization methods suffer from excessive computational time and require domain knowledge for algorithm design, making them unsuitable for time-sensitive disaster scenarios. This study proposes an attention-based encoder-decoder model (AEDM) for rapid drone routing decision in post-disaster road damage assessment. The method employs deep reinforcement learning to determine high-quality drone assessment routes without requiring algorithmic design knowledge. A network transformation method is developed to convert link-based routing problems into equivalent node-based formulations, while a synthetic road network generation technique addresses the scarcity of large-scale training datasets. The model is trained using policy optimization with multiple optima (POMO) with multi-task learning capabilities to handle diverse parameter combinations. Experimental results demonstrate two key strengths of AEDM: it outperforms commercial solvers by 20--71\% and traditional heuristics by 23--35\% in solution quality, while achieving rapid inference (1--2 seconds) versus 100--2,000 seconds for traditional methods. The model exhibits strong generalization across varying problem scales, drone numbers, and time constraints, consistently outperforming baseline methods on unseen parameter distributions and real-world road networks. The proposed method effectively balances computational efficiency with solution quality, making it particularly suitable for time-critical disaster response applications where rapid decision-making is essential for saving lives. The source code for AEDM is publicly available at https://github.com/PJ-HTU/AEDM-for-Post-disaster-road-assessment.
DroneSR: Rethinking Few-shot Thermal Image Super-Resolution from Drone-based Perspective
Venue: arXiv cs.CV 2025
Year: 2025

Although large scale models achieve significant improvements in performance, the overfitting challenge still frequently undermines their generalization ability. In super resolution tasks on images, diffusion models as representatives of generative models typically adopt large scale architectures. However, few-shot drone-captured infrared training data frequently induces severe overfitting in large-scale architectures. To address this key challenge, our method proposes a new Gaussian quantization representation learning method oriented to diffusion models that alleviates overfitting and enhances robustness. At the same time, an effective monitoring mechanism tracks large scale architectures during training to detect signs of overfitting. By introducing Gaussian quantization representation learning, our method effectively reduces overfitting while maintaining architecture complexity. On this basis, we construct a multi source drone-based infrared image benchmark dataset for detection and use it to emphasize overfitting issues of large scale architectures in few sample, drone-based diverse drone-based image reconstruction scenarios. To verify the efficacy of the method in mitigating overfitting, experiments are conducted on the constructed benchmark. Experimental results demonstrate that our method outperforms existing super resolution approaches and significantly mitigates overfitting of large scale architectures under complex conditions. The code and DroneSR dataset will be available at: https://github.com/wengzp1/GARLSR.
Weakly Supervised Medical Entity Extraction and Linking for Chief Complaints
Venue: arXiv cs.CL 2025
Year: 2025

A Chief complaint (CC) is the reason for the medical visit as stated in the patient's own words. It helps medical professionals to quickly understand a patient's situation, and also serves as a short summary for medical text mining. However, chief complaint records often take a variety of entering methods, resulting in a wide variation of medical notations, which makes it difficult to standardize across different medical institutions for record keeping or text mining. In this study, we propose a weakly supervised method to automatically extract and link entities in chief complaints in the absence of human annotation. We first adopt a split-and-match algorithm to produce weak annotations, including entity mention spans and class labels, on 1.2 million real-world de-identified and IRB approved chief complaint records. Then we train a BERT-based model with generated weak labels to locate entity mentions in chief complaint text and link them to a pre-defined ontology. We conducted extensive experiments, and the results showed that our Weakly Supervised Entity Extraction and Linking (\ours) method produced superior performance over previous methods without any human annotation.
AutoDrive-R$^2$: Incentivizing Reasoning and Self-Reflection Capacity for VLA Model in Autonomous Driving
Venue: arXiv cs.RO 2025
Year: 2025

Vision-Language-Action (VLA) models in autonomous driving systems have recently demonstrated transformative potential by integrating multimodal perception with decision-making capabilities. However, the interpretability and coherence of the decision process and the plausibility of action sequences remain largely underexplored. To address these issues, we propose AutoDrive-R$^2$, a novel VLA framework that enhances both reasoning and self-reflection capabilities of autonomous driving systems through chain-of-thought (CoT) processing and reinforcement learning (RL). Specifically, we first propose an innovative CoT dataset named nuScenesR$^2$-6K for supervised fine-tuning, which effectively builds cognitive bridges between input information and output trajectories through a four-step logical chain with self-reflection for validation. Moreover, to maximize both reasoning and self-reflection during the RL stage, we further employ the Group Relative Policy Optimization (GRPO) algorithm within a physics-grounded reward framework that incorporates spatial alignment, vehicle dynamic, and temporal smoothness criteria to ensure reliable and realistic trajectory planning. Extensive evaluation results across both nuScenes and Waymo datasets demonstrates the state-of-the-art performance and robust generalization capacity of our proposed method.